CN113721641A - Deep sea data acquisition system - Google Patents
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- CN113721641A CN113721641A CN202111028008.5A CN202111028008A CN113721641A CN 113721641 A CN113721641 A CN 113721641A CN 202111028008 A CN202111028008 A CN 202111028008A CN 113721641 A CN113721641 A CN 113721641A
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention provides a deep sea data acquisition system which is applied to an underwater data acquisition unit. The data acquisition system includes: an underwater controller; the underwater data acquisition unit: the underwater controller is communicated with the underwater controller, can receive an instruction of the underwater controller to start a data acquisition task and feed back acquired data to the underwater controller; a marine controller; a data transmission system: the underwater acoustic communication device comprises an underwater acoustic communication device and an overwater acoustic communication device; the underwater acoustic communicator and the overwater acoustic communicator are respectively communicated with the underwater controller and the overwater controller, and can be communicated with each other; the data acquisition unit includes: air pressure sensors, attitude sensors, etc.; the balance weight is installed in the sealed cabin, and the balance weight is connected with a load rejection motor, is connected with the underwater controller, and can control the connection between the balance weight and the sealed cabin. The underwater data acquisition system can be carried on underwater detection equipment and supports different water depth operations until the full sea depth. The method can accurately acquire the in-situ data in the whole sea depth to obtain the real characteristics of the data.
Description
Technical Field
The invention relates to the technical field of underwater detection, in particular to a deep sea data acquisition system.
Background
Deep sea detection technology requires deep sea data acquisition. Due to the particularity of the deep sea environment, the data acquisition difficulty is high. In the prior art, the deep sea data acquisition and test method mainly depends on a sampling test or an acoustic measurement method, and the real environment of the deep sea bottom cannot be repeatedly carved.
The deep sea detector is carried by the detection platform suitable for deep sea and thrown to the sea bottom, so that more real deep sea data can be directly acquired. However, the deep sea platform detection system has more limitations: under the deep sea environment, the detection platform and the sensor have high power consumption and poor expansibility, are limited by underwater sound bandwidth, are immature in long-distance underwater and overwater communication mechanisms, cannot support instant transmission of large data volume, and possibly cause a data packet loss phenomenon. Meanwhile, the underwater acoustic communication machine has limited frequency, long interval between underwater and overwater communication, and limited underwater information acquired by the deck monitoring unit, so that the deck monitoring unit has difficulty in observing the state and the acquired data of the device.
The above limitations cause poor stability, low reliability and low autonomy of the deep sea data acquisition system.
Disclosure of Invention
The present invention is to solve one of the above technical problems, and provides a data acquisition system suitable for deep sea to realize all-around sensing of the full deep sea environment.
A deep sea data acquisition system for use with an underwater data collector comprising a capsule, the data acquisition system comprising:
an underwater controller: the underwater sealed cabin is arranged in the underwater sealed cabin;
the underwater data acquisition unit: the underwater controller is communicated with the underwater controller, can receive an instruction of the underwater controller to start a data acquisition task and feed back acquired data to the underwater controller; the data acquisition unit is isolated from the underwater controller;
a marine controller;
a data transmission system: the underwater acoustic communication device comprises an underwater acoustic communication device and an overwater acoustic communication device; the underwater acoustic communicator and the overwater acoustic communicator are respectively communicated with the underwater controller and the overwater controller, and can be communicated with each other to realize the communication between the overwater controller and the underwater controller and transmit the underwater data acquired by the underwater data acquisition unit to the overwater controller;
when the acoustic communication machine uploads data from the underwater end, a plurality of pieces of data in the communication interval are packed and uploaded, the underwater end is analyzed and displayed in a subpackaging mode, a complete curve of information changing along with a depth axis is constructed, and more complete monitoring information is obtained in the low-frequency communication interval.
A power supply unit: the underwater acoustic communication device is used for supplying power to the underwater controller, the data acquisition unit and the underwater acoustic communication machine;
the data acquisition unit includes:
an air pressure sensor: the air pressure sensor is arranged in the sealed cabin and is used for detecting the air pressure in the cabin;
an attitude sensor: the device is arranged on the outer wall of the sealed cabin and used for detecting the posture of the sealed cabin;
a pressure sensor: the device is arranged outside the sealed cabin and used for detecting the current water pressure and estimating the descending depth;
an altimeter: the device is arranged outside the sealed cabin and used for detecting the height of the device from the bottom;
self-defining a data acquisition sensor: and the sensors supporting interfaces such as SPI, IIC, USART and the like complete the acquisition task.
The sealed cabin is provided with a counterweight, the counterweight is connected with a load rejection motor and is connected with an underwater controller, and the connection between the counterweight and the sealed cabin can be controlled; the counterweight is connected with a mechanical timing releaser which can be disconnected with the sealed cabin at regular time.
The counter weight has mechanical timing release to connect simultaneously, prevents that the controller from going wrong can not recovery plant.
In some embodiments of the present invention, the system includes a data storage unit for storing information collected by the data collection unit; the data storage unit includes:
an underwater data storage unit: the memory card comprises a first memory card and a second memory card, and adopts backup redundant storage;
an aquatic data storage unit: a third memory card is included.
In some embodiments of the invention, the data in the cache area of the underwater data storage unit is refreshed at regular time;
the underwater processor packs the updated data in the cache region of the underwater data storage unit at regular time;
and writing the data packed for a plurality of times into a file, naming the file by time, and storing the file in an underwater data storage unit.
In some embodiments of the invention, the data acquisition system further comprises an altimeter: the device is arranged outside the sealed cabin and used for detecting the height of the device from the bottom; a pressure sensor: the water pressure sensor is arranged outside the sealed cabin and used for detecting the current water pressure;
the subsea controller is configured to:
after receiving the command of the water controller, starting the underwater data acquisition unit to work;
or
And after the underwater control instruction is not received within a certain time threshold range, judging the position of the sealed cabin in the water according to the feedback data of the altimeter and the water pressure data of the pressure sensor so as to judge whether the sealed cabin reaches the water bottom, and automatically starting the underwater data acquisition unit to work after the sealed cabin reaches the water bottom.
In some embodiments of the invention, the subsea controller is further configured to: and after the underwater control command is not received within a certain time threshold range and the underwater data acquisition unit finishes working, starting the load rejection motor to disconnect the counterweight from the sealed cabin.
In some embodiments of the invention, the sealed chamber is a vacuum chamber; the subsea controller is further configured to: and when the pressure sensor in the cabin detects that the air pressure in the cabin is in a non-vacuum state, the load rejection motor is started to disconnect the counterweight from the sealed cabin.
In some embodiments of the invention, the system further comprises a water leak detection circuit; the input end of the water leakage detection circuit is connected to the bottom of the sealed cabin; the underwater controller collects a detection signal of the water leakage detection circuit, and is further configured to: and after the water leakage of the sealed cabin is detected, starting the load rejection motor to disconnect the counterweight from the sealed cabin.
In some embodiments of the invention, the system further comprises:
the posture adjusting module: the attitude adjusting motor is arranged outside the sealed cabin and can control the actuating mechanism to adjust the attitude of the sealed cabin under the power-on state;
the subsea control system is further configured to: and setting the horizontal angle of the sealed cabin as a target value, and generating a control signal of the attitude adjusting motor according to feedback data of the attitude sensor and by combining the horizontal angle and feedback output of the attitude sensor.
In some embodiments of the invention, the power supply unit is configured to:
isolated power supply is adopted among the low-power consumption devices;
logic interrupt protection is adopted for high power consumption devices.
In some embodiments of the invention, the data transmission system further comprises an optical fiber system, the optical fiber system is connected with the underwater controller and the water controller;
the underwater controller and the water controller are communicated through optical fibers in a shallow water area and through an underwater acoustic communicator in a deep water area.
The system provided by the invention has the beneficial effects that:
1. the underwater data acquisition system can be carried on underwater detection equipment and supports different water depth operations until the full sea depth. The method can accurately acquire the in-situ data in the whole sea depth to obtain the real characteristics of the data.
2. Through the design of multiple environment perception functions, deep sea environment data, the running state of the device and the environment data in the cabin can be perceived in an all-round mode, and the working reliability of the data acquisition system is improved.
3. A data processing mechanism based on buffer area access is designed, the problem of low software efficiency caused by overhigh frequency and large data storage amount of important data acquisition is solved, data acquisition, data storage and data communication are asynchronously carried out, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of the logic structure of the underwater data acquisition system of the present invention.
FIG. 2 is a schematic diagram of the logic structure of the underwater data acquisition system of the present invention;
FIG. 3 is a schematic diagram of the logic structure of the underwater data acquisition system of the present invention;
FIG. 4 is an architectural diagram of an underwater data acquisition system of the present invention;
FIG. 5 is a schematic view of a load rejection process;
FIG. 6 is a circuit diagram of a power supply unit;
FIG. 7 is a high voltage power supply interruption protection circuit;
FIG. 8 is a schematic diagram of attitude control;
FIG. 9 is a schematic diagram of a leakage detection circuit;
FIG. 10 is a schematic diagram of a subsea controller data acquisition;
FIG. 11 is a data storage logic diagram.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a deep sea data acquisition system which is applied to an underwater data acquisition unit. The underwater data acquisition device comprises a sealed cabin, wherein the sealed cabin comprises an instrument cabin, a circuit board of an underwater control system of an in-situ data acquisition device, a battery pack, an onboard sensor, a camera, an illuminator and the like are arranged in the instrument cabin, and the control system is responsible for the whole process that the control device enters water, descends, takes data acquisition tasks and floats out of the water surface and comprises the steps of supplying power to each subsystem, controlling a posture adjusting motor, shooting and recording images of the external environment of the seabed and storing the images in a storage card, carrying out data acquisition and storage tasks and controlling a load throwing motor to throw off loads after the tasks are completed to complete recovery work.
The data acquisition system includes: the system comprises an underwater controller, an overwater controller, an underwater data acquisition unit, a data transmission system and the like.
An underwater controller: the underwater control device is arranged in the underwater sealed cabin and is used for controlling data acquisition equipment in and out of the sealed cabin and the like, executing an on-water end instruction and the like. In this embodiment, the underwater controller adopts an ARM and FPGA architecture.
The underwater data acquisition unit: the underwater controller is communicated with the underwater controller, can receive an instruction of the underwater controller to start a data acquisition task and feed back acquired data to the underwater controller; isolation protection is adopted between the data acquisition unit and the underwater controller; the isolation communication module TD331S232H is adopted to integrate power supply isolation, signal isolation, RS232 communication and isolation protection. The function of the system can be used for isolating signal interference among subsystems, ensuring that a control system avoids short circuit caused by fault influence of immersion of external equipment and the like, ensuring that the communication and sensing signals of the system and the external system are reliably transmitted, and improving the reliability of the system. The data acquisition unit self-defines a data acquisition sensor: and the sensors supporting interfaces such as SPI, IIC, USART and the like complete the acquisition task.
The data acquisition part reserves various different sensor interfaces to realize the acquisition of different data, can self-define and finish the acquisition task as required, supports sensors of SPI, IIC and USART interfaces. The pressure sensor can read the current pressure value, and then roughly estimate the falling depth of the device.
The data acquisition unit comprises an in-cabin data acquisition unit and an out-cabin data acquisition unit, and specifically comprises the following sensors:
an air pressure sensor: the air pressure sensor is arranged in the sealed cabin and is used for detecting the air pressure in the cabin;
a temperature sensor: the device is arranged in the sealed cabin and is used for detecting the temperature in the cabin;
an attitude sensor: the device is arranged on the outer wall of the sealed cabin and used for detecting the posture of the sealed cabin;
an image acquisition device: the camera is arranged outside the sealed cabin and used for acquiring deep sea underwater images and can be adopted;
an altimeter: the device is arranged outside the sealed cabin and used for detecting the height between the sealed cabin and the deep sea bottom.
A pressure sensor: the water pressure detection device is arranged outside the sealed cabin and used for detecting the current water pressure, and the control system can judge the water depth of the sealed cabin according to the water pressure.
And when the sealed cabin reaches the seabed, the data acquisition unit starts data acquisition work.
A topside controller may be provided at an topside, such as on a deck of a vessel.
A data transmission system: the method is used for solving the problem of communication between the water controller and the underwater controller. A multi-modal communication mechanism is provided.
The data transmission system comprises an underwater acoustic communicator and an above-water underwater acoustic communicator; the underwater acoustic communicator and the overwater acoustic communicator are respectively communicated with the underwater controller and the overwater controller and can be mutually communicated with each other so as to realize the communication between the overwater controller and the underwater controller and transmit underwater data acquired by the underwater data acquisition unit to the overwater controller.
The underwater acoustic communication machine carries out data transmission through a self-developed ten-thousand-meter-level underwater acoustic communication machine and is divided into an underwater end and a underwater end, and the underwater acoustic communication machine supports multiple data transmission modes (a data mode and a transparent transmission mode, wherein the data mode can be used for setting the power, the baud rate and the signal-to-noise ratio of the communication machine, and the transparent transmission mode is used for transmitting data) and multiple power modes (adjusting the communication distance).
The data acquisition system and the underwater end of the underwater acoustic communication machine realize information intercommunication through an RS232 serial port, data uploaded in real time (data such as the running state of the device, the deep sea environment sensing and physical quantity acquired by in-situ test) are packaged every 500ms and uploaded to the upper computer of the deck unit by the underwater acoustic communication machine, the deck monitoring unit performs subpackage analysis display on the data every 500ms to construct a complete curve changing along with a depth axis, the state is completely monitored in a long-time communication interval and stored in a built-in memory card of the deck unit in real time. Different data transmission intervals can be set according to different device states: in the descending state of the device, the data transmission interval is 1 min; in the near-bottom and bottom-sitting states, the transmission interval is 10S, so that the device information can be acquired as far as possible in real time; in the floating state, the transmission interval is 5min, so that the power consumption of the system is saved. The transmission time interval may be set from the deck monitoring unit.
The communication of the device and all external subsystems and sensors adopts isolation transmission protection, and an isolation communication module TD331S232H is adopted to integrate power supply isolation, signal isolation, RS232 communication and isolation protection. The function of the system can be used for isolating signal interference among subsystems, ensuring that a control system avoids short circuit caused by fault influence of immersion of external equipment and the like, ensuring that the communication and sensing signals of the system and the external system are reliably transmitted, and improving the reliability of the system.
In some embodiments of the present invention, the data transmission system further comprises an optical fiber system, the optical fiber system connecting the underwater controller and the above-water controller; the underwater controller and the water controller are communicated through optical fibers in a shallow water area and through an underwater acoustic communicator in a deep water area.
Based on above data transmission system's structure, data transmission between this device underwater controller and the controller on water supports two kinds of modes, be low-speed wireless underwater acoustic communication transmission and high-speed optical fiber transmission respectively, can adopt optic fibre to transmit under the shallow water condition of depth of water, transmission frequency is high and the bandwidth is high, be fit for the characteristics that data acquisition device data volume is big, the frequency is fast, but like ten thousand meters depth of water under the deeper condition of depth of water, optic fibre breaks easily, optional underwater acoustic communicator carries out data transmission this moment. The deep water and the shallow water described herein can be distinguished by manually setting the water depth value.
A power supply unit: the underwater acoustic communication device is used for supplying power to the underwater controller, the data acquisition unit and the underwater acoustic communication machine. In some embodiments of the invention, the power supply unit is configured to:
isolated power supply is adopted among the low-power consumption devices;
logic interrupt protection is adopted for high power consumption devices.
With particular reference to fig. 6 and 7. The power supply unit adopts 24V lithium batteries and a voltage stabilizing module as power supplies, an external 24V power supply is converted into 12V, 5V and 3.3V power supplies for the camera, the azimuth attitude sensor and the altimeter respectively through a voltage reducing circuit, power supply support is provided for the whole device, and the underwater acoustic communication machine adopts 32V power supply. The device is required to have higher reliability when power is supplied to the device under the background of extreme water pressure in the full sea depth, and meanwhile, the device is required to be ensured not to be influenced when the phenomena of water leakage, short circuit and the like occur in a system fault or a pressure-resistant cabin. Therefore, isolated power supply is selected for the device subsystem with lower power consumption, and FPGA high-speed logic interrupt protection is selected for the device subsystem with higher power consumption.
The device adopts the cable-free arrangement, and because the existing underwater acoustic communication machine, especially the ten-thousand-meter underwater acoustic communication machine, is immature in technology and easy to lose connection, the submarine acquisition task cannot be carried out, and the device cannot be recovered. To address this problem, some embodiments of the invention: the balance weight is installed in the sealed cabin, the balance weight is connected with a load rejection motor and is connected with the underwater controller, and the balance weight can be controlled to be connected with the sealed cabin. The counterweight is connected with a mechanical timing releaser which can be disconnected with the sealed cabin at regular time.
In some embodiments of the invention, the subsea controller is configured to: after receiving the command of the water controller, starting the underwater data acquisition unit to work; or after the underwater control command is not received within a certain time threshold range, judging whether the underwater control command reaches the water bottom, and automatically starting the underwater data acquisition unit to work after the underwater control command reaches the water bottom. The device can judge the position of the sealed cabin in water according to the feedback data of the altimeter or the water pressure data of the pressure sensor and judge whether the sealed cabin reaches the water bottom.
In some embodiments of the invention, the subsea controller is further configured to: and after the underwater data acquisition unit finishes working, the load rejection motor is automatically started to disconnect the counterweight from the sealed cabin.
Specifically, the data acquisition system supports the functions of autonomous acquisition, timed acquisition and timed intelligent load rejection. After the underwater end does not receive the control command for a long time, the underwater acoustic communicator is judged to be disconnected, at the moment, the underwater acoustic communicator enters an automatic mode, and the altimeter judges the state of the device. After the height of the device from the bottom is less than 0.8m (can be set as required), continuous judgment is carried out for multiple times to determine that the device has sat the bottom, at the moment, the device automatically powers on the sensor and the data acquisition system to carry out a data acquisition task, the load rejection motor is automatically started after the acquisition is finished, and the device floats upwards and is recovered.
In order to prevent the altimeter from being in fault, the device supports the functions of timing acquisition and timing intelligent load rejection, the deck unit sets proper timing time, and starts a data acquisition task and a load rejection recovery task after the timing is reached. In addition, in order to prevent the control system from being out of order, the device is equipped with mechanical timing releaser, and the counter weight couple is released automatically after reaching the set time, and the device is thrown and is carried the recovery. The functions effectively enable the device to be not completely dependent on the underwater acoustic communicator, ensure that tasks are smoothly carried out and the device is smoothly recycled, and greatly improve the reliability and autonomy of the device.
The automatic collection, timing collection and timing intelligent load rejection functions are supported by the collection system. After the underwater end of the device does not receive the control command for a long time, the underwater acoustic communicator is judged to be disconnected, at the moment, the underwater acoustic communicator enters an automatic mode, and the state of the device is judged by the altimeter. After the height of the device from the bottom is less than 0.8m, continuous judgment is carried out for many times to determine that the device has sat the bottom, the device automatically powers on the sensor and the data acquisition system at the moment to carry out a data acquisition task, the load rejection motor is automatically started after the acquisition is finished, and the device floats upwards and is recovered. In order to prevent the altimeter from being in fault, the device supports the functions of timing acquisition and timing intelligent load rejection, the deck unit sets proper timing time, and starts a data acquisition task and a load rejection recovery task after the timing is reached. In addition, in order to prevent the control system from being out of order, the device is equipped with mechanical timing releaser, and the counter weight couple is released automatically after reaching the set time, and the device is thrown and is carried the recovery. The functions effectively enable the device to be not completely dependent on the underwater acoustic communicator, ensure that tasks are smoothly carried out and the device is smoothly recycled, and greatly improve the reliability and autonomy of the device.
In some embodiments of the present invention, methods for communicating data over and under water are further provided. The system comprises a data storage unit, a data acquisition unit and a data processing unit, wherein the data storage unit is used for storing information acquired by the data acquisition unit; the data storage unit includes:
an underwater data storage unit: the memory card comprises a first memory card and a second memory card, and adopts backup redundant storage; an SD card and a CF card can be respectively adopted to ensure the security of core data; the read-write mode of the SD card is the SPI mode;
an aquatic data storage unit: a third memory card is included.
Based on the structure, the data storage structure with triple backup is realized.
In some embodiments of the invention, the data in the cache area of the underwater data storage unit is refreshed at regular time;
the underwater processor packs the updated data in the cache region of the underwater data storage unit at regular time;
and writing the data packed for a plurality of times into a file, naming the file by time, and storing the file in an underwater data storage unit.
Specifically, the method comprises the following steps: the device uses the FATFS file management system for storing data, and has strong operability and portability. Because the file is opened slowly when the file management system stores data, and the control system needs to collect a large amount of data frequently, the device adopts the following storage method: the main program enters the SD card processing function every second, the data in the buffer area is stored to short numbers to form a packet of data, the data in the buffer area is refreshed every 500ms, the program fills the new data in the buffer area into a larger array when entering the SD card processing function every time, and when the number of filling times reaches 10 times, the array data is ready to be written into a file. In order to facilitate data search, stored data files are named in terms of time, and a new file is established every hour, so that whether the time is updated or not is judged before the files are opened, and if the time is updated by a new hour, the files are newly established and renamed; and if not, opening the old file, writing the data into the old file, and finishing the data storage of the SD card once. All the collected data are stored in txt file format.
In the aspect of data processing, an asynchronous reading public data buffer area is designed, data acquisition, data storage and data transmission are decoupled, the contradiction between high-speed sensor data acquisition and data storage tasks and low-speed and low-bandwidth underwater acoustic communication is solved, and the software efficiency is effectively improved; in the aspects of communication with an upper computer and FPGA (field programmable gate array) inside a system, a data transmission mechanism and a data frame format which are universal based on an MODBUS protocol communication mechanism are designed to realize the reliability and integrity of data interaction.
When the operation is carried out on the deep sea floor of the whole sea, the deep sea environment data, the device operation data and the cabin environment data need to be mastered at any time, and once the emergency occurs, the method comprises the following steps: problems such as water leakage in the cabin, equipment failure and the like cause that the in-situ test task cannot be smoothly carried out, and the device immediately executes the load rejection command to ensure that the device can be smoothly recovered. Based on the above, the device respectively senses and designs the full-sea deep environment state, the in-situ testing device state, the master control cabin state and the master control board state according to the requirement of working reliability.
The off-bottom height of the device is obtained through the altimeter, the current state of the device is judged through the value returned by the altimeter, and when the value returned by the altimeter is 0.8m (which can be set according to requirements) and is unchanged for a plurality of times, the device can control to start an in-situ data acquisition task.
In some embodiments of the invention, the sealed chamber is a vacuum chamber; the subsea controller is further configured to: and when the pressure sensor in the cabin detects that the air pressure in the cabin is in a non-vacuum state, the load rejection motor is started to disconnect the counterweight from the sealed cabin.
In some embodiments of the invention, the system further comprises a water leak detection circuit; the input end of the water leakage detection circuit is connected to the bottom of the sealed cabin; the underwater controller collects a detection signal of the water leakage detection circuit, and is further configured to: and after the water leakage of the sealed cabin is detected, starting the load rejection motor to disconnect the counterweight from the sealed cabin.
Referring to fig. 9, two paths of water leakage comparison interruptions are designed on the basis of detecting the air pressure in the cabin, whether water leaks from the bottom of the cabin is detected, the system is provided with two paths of operational amplification circuits, the operational amplification circuits are connected with the FPGA pins through optocoupler isolation chips TLP281, and two paths of water leakage comparison points are extended to the bottom of the cabin. Once water leakage occurs in the cabin, the FPGA pin receives a signal immediately and sends a load rejection instruction to ensure that the device is recovered smoothly.
In the device laying process, in order to ensure that the device lands stably, the posture of the device is adjusted very important, and the device is inevitably inclined due to the influence of water flow, so that in some embodiments of the invention, a closed-loop control posture adjustment motor is designed for posture adjustment. The system further comprises: the posture adjusting module: the attitude adjusting motor is arranged outside the sealed cabin and can control the actuating mechanism to adjust the attitude of the sealed cabin under the power-on state;
the subsea control system is further configured to: and setting the horizontal angle of the sealed cabin as a target value, and generating a control signal of the attitude adjusting motor according to feedback data of the attitude sensor and by combining the horizontal angle and feedback output of the attitude sensor.
Referring to fig. 8, specifically, the operation state of the underwater data acquisition system is sensed by using an azimuth attitude sensor to obtain the operation attitude of the device in the descending process, and when the attitude is not stable, an attitude adjustment motor around the control device is rotated to adjust the attitude so as to ensure that the device lands stably. The attitude adjustment adopts PID control, after the current attitude of the device is acquired by an attitude sensor, the current attitude is compared with a horizontal angle to obtain an error Ep, the difference between an actual value and a target is used as an input to adjust the motor, when the attitude of the device deviates from the horizontal angle to be larger, the control is stronger, and when the deviation angle is smaller, the control is weaker, so that the device is effectively and stably arranged.
Wherein, KpIs a proportionality coefficient, KiIs the integral coefficient, KdIs a differential coefficient. Ep (t) is the difference between the horizontal angle and the real-time angle of the sealed cabin fed back by the attitude sensor.
Furthermore, the device adopts a camera to acquire images of the deep sea environment, is provided with double illuminating lamps, is automatically started in a dark environment to really record the submarine environment, and is provided with an internal storage card to store submarine environment information. After the device is recovered and floats out of the water surface, the position of the device on the sea level is accurately obtained by adopting the double positioning of underwater sound positioning and optical beacon so as to facilitate the recovery of the device.
The underwater data acquisition system can be carried on underwater detection equipment, realize the ten-thousand-meter-level submarine data acquisition in the whole sea depth, and can accurately acquire in-situ data in the whole sea depth to obtain the real characteristics of the data. The safety of an underwater system can be improved, and the safety of a control cabin can be ensured on the premise that tens of kilometers of underwater sub-cabins are more. Through the design of multiple environment perception functions, deep sea environment data, device running states, cabin environment data and the working reliability of a data acquisition system can be perceived in an all-around mode.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A deep sea data collection system for use with an underwater data collection unit comprising a capsule, the data collection system comprising:
an underwater controller: the underwater sealed cabin is arranged in the underwater sealed cabin;
the underwater data acquisition unit: the underwater controller is communicated with the underwater controller, can receive an instruction of the underwater controller to start a data acquisition task and feed back acquired data to the underwater controller; isolation protection is adopted between the acquisition unit and the underwater controller;
a marine controller;
a data transmission system: the underwater acoustic communication device comprises an underwater acoustic communication device and an overwater acoustic communication device; the underwater acoustic communicator and the overwater acoustic communicator are respectively communicated with the underwater controller and the overwater controller, and can be mutually communicated so as to realize the communication between the overwater controller and the underwater controller and transmit the underwater data acquired by the underwater data acquisition unit to the overwater controller;
a power supply unit: the underwater acoustic communication device is used for supplying power to the underwater controller, the data acquisition unit and the underwater acoustic communication machine;
the data acquisition unit includes:
an air pressure sensor: the air pressure sensor is arranged in the sealed cabin and is used for detecting the air pressure in the cabin;
an attitude sensor: the device is arranged in the sealed cabin and used for detecting the posture of the sealed cabin;
the sealed cabin is provided with a counterweight, the counterweight is connected with a load rejection motor and is connected with an underwater controller, and the connection between the counterweight and the sealed cabin can be controlled; the counterweight is connected with a mechanical timing releaser which can be disconnected with the sealed cabin at regular time.
2. The deep sea data acquisition system of claim 1, wherein the system comprises a data storage unit for storing data acquisition unit acquisition information; the data storage unit includes:
an underwater data storage unit: the memory card comprises a first memory card and a second memory card, and adopts backup redundant storage;
an aquatic data storage unit: a third memory card is included.
3. The deep sea data collection system according to claim 1 or 2, wherein:
refreshing the data of the cache region of the underwater data storage unit at regular time;
the underwater processor packs the updated data in the cache region of the underwater data storage unit at regular time;
and writing the data packed for a plurality of times into a file, naming the file by time, and storing the file in an underwater data storage unit.
4. The deep sea data acquisition system of claim 1, wherein the data acquisition system further comprises an altimeter: the device is arranged outside the sealed cabin and used for detecting the height of the device from the bottom; a pressure sensor: the water pressure sensor is arranged outside the sealed cabin and used for detecting the current water pressure;
the subsea controller is configured to:
after receiving the command of the water controller, starting the underwater data acquisition unit to work;
or
And after the underwater control instruction is not received within a certain time threshold range, judging the position of the sealed cabin in the water according to the feedback data of the altimeter and the water pressure data of the pressure sensor so as to judge whether the sealed cabin reaches the water bottom, and automatically starting the underwater data acquisition unit to work after the sealed cabin reaches the water bottom.
5. The deep sea data collection system of claim 3, wherein the subsea controller is further configured to: and after the underwater control command is not received within a certain time threshold range and the underwater data acquisition unit finishes working, starting the load rejection motor to disconnect the counterweight from the sealed cabin.
6. The deep sea data acquisition system of claim 1, wherein the capsule is a vacuum capsule; the subsea controller is further configured to: and when the pressure sensor in the cabin detects that the air pressure in the cabin is in a non-vacuum state, the load rejection motor is started to disconnect the counterweight from the sealed cabin.
7. The deep sea data acquisition system of claim 1, wherein the system further comprises a water leak detection circuit; the input end of the water leakage detection circuit is connected to the bottom of the sealed cabin; the underwater controller collects a detection signal of the water leakage detection circuit, and is further configured to: and after the water leakage of the sealed cabin is detected, starting the load rejection motor to disconnect the counterweight from the sealed cabin.
8. The deep-sea data acquisition system of claim 1, further comprising:
the posture adjusting module: the attitude adjusting motor is arranged outside the sealed cabin and can control the actuating mechanism to adjust the attitude of the sealed cabin under the power-on state;
the subsea control system is further configured to: and setting the horizontal angle of the sealed cabin as a target value, and generating a control signal of the attitude adjusting motor according to feedback data of the attitude sensor and by combining the horizontal angle and feedback output of the attitude sensor.
9. The deep-sea data acquisition system of claim 1, wherein the power supply unit is configured to:
isolated power supply is adopted among the low-power consumption devices;
logic interrupt protection is adopted for high power consumption devices.
10. The deep sea data acquisition system of claim 1, wherein the data transmission system further comprises a fiber optic system connecting the subsea controller and the topside controller;
the underwater controller and the water controller are communicated through optical fibers in a shallow water area and through an underwater acoustic communicator in a deep water area.
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